CN103926877A - Multi-shaft linkage numerical control system and machining method thereof - Google Patents
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Abstract
本发明公开一种多轴联动数控系统及其加工方法，包括多轴控制器、多个电机驱动器、多个与所述电机驱动器配合得电机及机床，多个所述电机设置在所述机床的不同方向，连接并控制不同的机床运动轴；多个所述电机驱动器通过数据总线与所述多轴控制器电连接，多个电机驱动器与多个所述电机一一对应地电连接，通过所述多轴控制器控制所述电机驱动器驱动所述电机驱动所述机床运行。本发明采用空间分解的方式，把几个轴的数据独立出来，可以达到更多轴的联动；多轴控制器跟电机驱动器分开独立运算，实现并行运算，速度更高，反应更快；电机驱动器内部生成最终的速度曲线，采用实时速度控制，具有更高平滑度；能高效实现复杂曲线的插补。
The invention discloses a multi-axis linkage numerical control system and a processing method thereof, comprising a multi-axis controller, a plurality of motor drivers, a plurality of motors matched with the motor drivers and a machine tool, and the plurality of motors are arranged on the machine tool Connect and control different motion axes of the machine tool in different directions; multiple motor drivers are electrically connected to the multi-axis controller through a data bus, and multiple motor drivers are electrically connected to multiple motors in one-to-one correspondence. The multi-axis controller controls the motor driver to drive the motor to drive the machine tool to run. The present invention adopts the method of space decomposition, separates the data of several axes, and can achieve the linkage of more axes; the multi-axis controller and the motor driver are separated and operated independently, realizing parallel operation, with higher speed and faster response; the motor driver The final speed curve is generated internally, and real-time speed control is adopted, which has higher smoothness; it can efficiently realize the interpolation of complex curves.
Description
技术领域technical field
本发明涉及一种机械制造用机床的数控系统，尤其涉及一种多轴联动数控系统及其加工方法。The invention relates to a numerical control system of a machine tool for mechanical manufacturing, in particular to a multi-axis linkage numerical control system and a processing method thereof.
背景技术Background technique
数控技术水平标志着一个国家工业现代化水平。随着芯片发展，推动着自动化技术的发展，尤其是数控自动化方面，在今天人工短缺的时代，用人成本不断上升，传统劳动密集型的产业必须升级，否则会被淘汰。在现代制造系统中，数控技术是关键，是制造业实现自动化、网络化、柔性化和集成化的基础。The level of numerical control technology marks the level of a country's industrial modernization. With the development of chips, the development of automation technology is promoted, especially in the field of CNC automation. In today's era of labor shortage, the cost of employment continues to rise, and traditional labor-intensive industries must be upgraded, otherwise they will be eliminated. In the modern manufacturing system, numerical control technology is the key, and it is the basis for the manufacturing industry to realize automation, networking, flexibility and integration.
多轴联动数控系统是机床设备的控制器，负责控制机床运行，是整台机床的灵魂，机床的每个信号，每个动作都是由数控系统发出；目前的数控系统大部分是逐点比较法，广泛应用在机床上的一种插补方法，它能实现直线、圆弧和非圆二次曲线的插补，插补精度较高。The multi-axis linkage CNC system is the controller of the machine tool equipment, which is responsible for controlling the operation of the machine tool. It is the soul of the whole machine tool. Every signal and every action of the machine tool is sent by the CNC system; most of the current CNC systems are point-by-point comparisons. The method is an interpolation method widely used in machine tools. It can realize the interpolation of straight lines, circular arcs and non-circular quadratic curves, and the interpolation accuracy is high.
逐点比较法，顾名思义，就是每走一步都要将加工点的瞬时坐标同规定的图形轨迹相比较，判断其偏差，然后决定下一步的走向，如果加工点走到图形外面去了，那么下一步就要向图形里面走；如果加工点在图形里面，那么下一步就要向图形外面走，以缩小偏差。这样就能得出一个非常接近规定图形的轨迹，最大偏差不超过一个脉冲当量；在逐点比较法中，每进给一步都须要进行偏差判别、坐标进给、新偏差计算和终点比较四个节拍。The point-by-point comparison method, as the name suggests, is to compare the instantaneous coordinates of the processing point with the specified graphic trajectory at each step, judge the deviation, and then decide the direction of the next step. If the processing point goes out of the graph, then the next step One step is to go inside the graph; if the processing point is inside the graph, then the next step is to go outside the graph to reduce the deviation. In this way, a trajectory that is very close to the specified figure can be obtained, and the maximum deviation does not exceed one pulse equivalent; in the point-by-point comparison method, four steps are required for deviation discrimination, coordinate feed, new deviation calculation and end point comparison. the beat.
目前的这些数控系统存在以下缺点：1、每次插补运算，只有一个坐标轴输出，在高速高精度场合，运算量比较大；2、不容易实现两轴以上的联动插补，或者实现三轴以上的联动，运算量很大；3、由于各轴之间协调关系复杂，在加减速运动时，会导致合成位置有偏差；4、动态的高性能加减速算法难以实现。These current numerical control systems have the following disadvantages: 1. Each interpolation operation only outputs one coordinate axis, and in high-speed and high-precision occasions, the amount of calculation is relatively large; 2. It is not easy to realize linkage interpolation of more than two axes, or realize three-axis The linkage above the axis requires a lot of calculations; 3. Due to the complex coordination relationship between the axes, it will lead to deviations in the combined position during acceleration and deceleration; 4. It is difficult to implement a dynamic high-performance acceleration and deceleration algorithm.
发明内容Contents of the invention
为解决上述现有技术中所存在的问题，本发明提供一种多轴联动数控系统及其加工方法。In order to solve the above-mentioned problems in the prior art, the present invention provides a multi-axis linkage numerical control system and a processing method thereof.
本发明采用如下技术方案实现：一种多轴联动数控系统，包括多轴控制器、多个电机驱动器、多个与所述电机驱动器配合得电机及机床，多个所述电机设置在所述机床的不同方向，连接并控制不同的机床运动轴；多个所述电机驱动器通过数据总线与所述多轴控制器电连接，多个电机驱动器与多个所述电机一一对应地电连接，通过所述多轴控制器控制所述电机驱动器驱动所述电机驱动所述机床运行。The present invention is realized by the following technical solutions: a multi-axis linkage numerical control system, including a multi-axis controller, a plurality of motor drivers, a plurality of motors that cooperate with the motor drivers, and a machine tool, and a plurality of the motors are arranged on the machine tool different directions of the machine tool to connect and control different motion axes of the machine tool; multiple motor drivers are electrically connected to the multi-axis controller through a data bus, and multiple motor drivers are electrically connected to multiple motors in one-to-one correspondence, through The multi-axis controller controls the motor driver to drive the motor to drive the machine tool to run.
优选地，所述电机驱动器内设置有用于生成曲线数据的曲线函数发生器。Preferably, the motor driver is provided with a curve function generator for generating curve data.
本发明还提供一种多轴联动数控系统的加工方法，包括以下步骤：The present invention also provides a processing method of a multi-axis linkage numerical control system, comprising the following steps:
a)通过图形界面做好加工图，或者导入外部CAD图；a) Prepare the processing drawings through the graphical interface, or import external CAD drawings;
b)对所述加工图或CAD图进行曲线分析，提取所述加工图或CAD图中的特征；b) performing curve analysis on the processing drawing or CAD drawing, and extracting features in the processing drawing or CAD drawing;
c)加入机床数据，与步骤b中提取的特征进行综合运算，得到最后综合曲线；c) add machine tool data, and carry out comprehensive operation with the feature extracted in step b, obtain final comprehensive curve;
d)把所述最后综合曲线进行多轴分解，得到每个运动轴的独立坐标数据；d) performing multi-axis decomposition on the final integrated curve to obtain independent coordinate data of each motion axis;
e)将所述独立坐标数据分别发送到各轴的电机驱动器上，并发送同步时钟信号；e) sending the independent coordinate data to the motor drivers of each axis respectively, and sending a synchronous clock signal;
f)所述电机驱动器根据接收到的独立坐标数据和提取到的同步时钟信号生成曲线数据；f) the motor driver generates curve data according to the received independent coordinate data and the extracted synchronous clock signal;
g)将所述曲线数据转换成为精密速度曲线和加速度参数；g) converting the curve data into precise velocity curves and acceleration parameters;
h)使用生成的所述精密速度曲线进行电机速度实时控制；h) using the generated precise speed curve to perform real-time motor speed control;
i)多个电机轴的运动轨迹组成机床空间的最终加工曲线，完成加工。i) The motion trajectories of multiple motor shafts form the final machining curve in the machine tool space to complete the machining.
优选地，所述b步骤中所述特征包括直线、圆弧、椭圆、抛物线、双曲线、渐开线和样条曲线。Preferably, the features in step b include straight lines, arcs, ellipses, parabolas, hyperbolas, involutes and splines.
优选地，所述机床数据包括机床零点、丝杆轴传动比例及刀具半径。Preferably, the machine tool data include machine tool zero, screw shaft transmission ratio and tool radius.
进一步，所述最后综合曲线的函数表达式如下：Further, the functional expression of the final integrated curve is as follows:
e(t)=f(t)*AxialScale+ZeroOffset+c(t)*CutterRadiuse(t)=f(t)*AxialScale+ZeroOffset+c(t)*CutterRadius
式中：e(t)为最后综合曲线；In the formula: e(t) is the final comprehensive curve;
f(t)为目标曲线；f(t) is the target curve;
c(t)为刀具补偿函数；c(t) is the tool compensation function;
AxialScale为丝杆轴传动比例；AxialScale is the transmission ratio of the screw shaft;
ZeroOffset为机床零点；ZeroOffset is the zero point of the machine tool;
CutterRadius为刀具半径。CutterRadius is the cutter radius.
与现有技术相比，本发明具有如下有益效果：本发明采用空间分解的方式，把几个轴的数据独立出来，可以达到更多轴的联动；多轴控制器跟电机驱动器分开独立运算，实现并行运算，比中央控制方式的串联运算速度更高，反应更快；电机驱动器内部产生的函数曲线数据，比脉冲方式的更加精准；电机驱动器内部生成最终的速度曲线，采用实时速度控制，多轴合成的轨迹比脉冲方式有更高平滑度；能高效实现复杂曲线的插补，如椭圆，抛物线，渐开线，样条曲线等。Compared with the prior art, the present invention has the following beneficial effects: the present invention adopts the method of space decomposition, separates the data of several axes, and can achieve the linkage of more axes; the multi-axis controller and the motor driver operate independently, Parallel operation is realized, which is faster and faster than the serial operation of the central control method; the function curve data generated inside the motor driver is more accurate than the pulse method; the final speed curve generated inside the motor driver adopts real-time speed control. The axis synthesis trajectory has higher smoothness than the pulse method; it can efficiently realize the interpolation of complex curves, such as ellipses, parabolas, involutes, splines, etc.
附图说明Description of drawings
图1是本发明的原理方框图。Fig. 1 is a schematic block diagram of the present invention.
具体实施方式Detailed ways
下面结合具体实施例和附图对本发明一种多轴联动数控系统及其加工方法作进一步的详细说明。A multi-axis linkage numerical control system and its processing method of the present invention will be further described in detail below in conjunction with specific embodiments and accompanying drawings.
本发明提出的一种多轴联动数控系统，包括多轴控制器、多个电机驱动器、多个与所述电机驱动器配合得电机及机床，多个所述电机设置在所述机床的不同方向，连接并控制不同的机床运动轴；多个所述电机驱动器通过数据总线与所述多轴控制器电连接，多个电机驱动器与多个所述电机一一对应地电连接，所述电机驱动器内设置有用于生成曲线数据的曲线函数发生器；通过所述多轴控制器控制所述电机驱动器驱动所述电机驱动所述机床运行。A multi-axis linkage numerical control system proposed by the present invention includes a multi-axis controller, a plurality of motor drivers, a plurality of motors cooperating with the motor drivers, and a machine tool. The plurality of motors are arranged in different directions of the machine tool. Connect and control different machine tool motion axes; multiple motor drivers are electrically connected to the multi-axis controller through a data bus, and multiple motor drivers are electrically connected to multiple motors in one-to-one correspondence. A curve function generator for generating curve data is provided; the motor driver is controlled by the multi-axis controller to drive the motor to drive the machine tool to run.
本发明还提供一种多轴联动数控系统的加工方法，包括以下步骤：The present invention also provides a processing method of a multi-axis linkage numerical control system, comprising the following steps:
a)通过图形界面做好加工图，或者导入外部CAD图，完成加工信息的导入；a) Make a processing drawing through the graphical interface, or import an external CAD drawing to complete the import of processing information;
b)对所述加工图或CAD图进行曲线分析，提取所述加工图或CAD图中的特征，如直线、圆弧、椭圆、抛物线、双曲线、渐开线和样条曲线等；b) Carry out curve analysis on the processing drawing or CAD drawing, and extract features in the processing drawing or CAD drawing, such as straight line, arc, ellipse, parabola, hyperbola, involute and spline curve, etc.;
c)加入机床数据，与步骤b中提取的特征进行综合运算，得到最后综合曲线；所述机床数据包括机床零点、丝杆轴传动比例及刀具半径等数据，所述最后综合曲线的函数表达式如下：c) add machine tool data, carry out comprehensive operation with the feature extracted in step b, obtain final comprehensive curve; Described machine tool data comprises data such as machine tool zero point, screw shaft transmission ratio and tool radius, the function expression of described final comprehensive curve as follows:
e(t)=f(t)*AxialScale+ZeroOffset+c(t)*CutterRadiuse(t)=f(t)*AxialScale+ZeroOffset+c(t)*CutterRadius
式中：e(t)为最后综合曲线；In the formula: e(t) is the final comprehensive curve;
f(t)为目标曲线；f(t) is the target curve;
c(t)为刀具补偿函数，与刀具半径及目标曲线在t点的切线角度有关；c(t) is the tool compensation function, which is related to the tool radius and the tangent angle of the target curve at point t;
AxialScale为丝杆轴传动比例；AxialScale is the transmission ratio of the screw shaft;
ZeroOffset为机床零点；ZeroOffset is the zero point of the machine tool;
CutterRadius为刀具半径；CutterRadius is the cutter radius;
d)把所述最后综合曲线进行多轴分解，得到每个运动轴的独立坐标数据；如三轴圆弧分解，X2+Y2+Z2=R2，分解成X=R*cos(t)*cos(T)，Y=R*cos(t)*sin(T)，Z=R*sin(t)；d) Multi-axis decompose the final integrated curve to obtain independent coordinate data of each axis of motion; such as three-axis circular arc decomposition, X 2 +Y 2 +Z 2 =R 2 , decomposed into X=R*cos( t)*cos(T), Y=R*cos(t)*sin(T), Z=R*sin(t);
e)将分解后的所述独立坐标数据分别发送到各轴的电机驱动器上，并发送同步时钟信号；e) sending the decomposed independent coordinate data to the motor drivers of each axis respectively, and sending a synchronous clock signal;
f)所述电机驱动器根据接收到的独立坐标数据和提取到的同步时钟信号生成曲线数据；f) the motor driver generates curve data according to the received independent coordinate data and the extracted synchronous clock signal;
g)将所述曲线数据转换成为精密速度曲线和加速度参数；g) converting the curve data into precise velocity curves and acceleration parameters;
h)使用生成的所述精密速度曲线进行电机速度实时控制；h) using the generated precise speed curve to perform real-time motor speed control;
i)多个电机轴的运动轨迹组成机床空间的最终加工曲线，完成加工。i) The motion trajectories of multiple motor shafts form the final machining curve in the machine tool space to complete the machining.
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention should be included in the protection of the present invention. within range.
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| WO2015154554A1 (en) * | 2014-04-08 | 2015-10-15 | 江门市新会区向日葵科技有限公司 | Multi-spindle linkage numerical control system and processing method thereof |
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| CN1155111A (en) * | 1996-01-15 | 1997-07-23 | 南京航空航天大学 | Economical multi-axis numerical control system and its linkage control method |
| JPH11235645A (en) * | 1998-02-19 | 1999-08-31 | Honda Motor Co Ltd | Driving device of multi-axes motor in nc machine tool |
| CN102929191A (en) * | 2012-10-18 | 2013-02-13 | 中达光电工业（吴江）有限公司 | Method and device for controlling multiple drivers to work synchronously |
| CN103529751A (en) * | 2013-10-29 | 2014-01-22 | 广东省自动化研究所 | Five-axis linkage machine tool numerical control system and processing method thereof |
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| WO2015154554A1 (en) * | 2014-04-08 | 2015-10-15 | 江门市新会区向日葵科技有限公司 | Multi-spindle linkage numerical control system and processing method thereof |
| CN104439889A (en) * | 2014-12-09 | 2015-03-25 | 贵州红林机械有限公司 | Method of sinusoidal curve knurling by four-axis linkage |
| CN112783097A (en) * | 2019-11-08 | 2021-05-11 | 兄弟工业株式会社 | Numerical controller and control method for numerical controller |
| CN112783097B (en) * | 2019-11-08 | 2024-07-26 | 兄弟工业株式会社 | Numerical control device and control method of numerical control device |
Also Published As
| Publication number | Publication date |
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| WO2015154554A1 (en) | 2015-10-15 |
| CN103926877B (en) | 2018-02-09 |
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